![](/media/cache/profiles/2012_sf_avc_095.jpg.50x50_q85.jpg)
Code for autonomous rover for Sparkfun AVC. DataBus won 3rd in 2012 and the same code was used on Troubled Child, a 1986 Jeep Grand Wagoneer to win 1st in 2014.
Dependencies: mbed Watchdog SDFileSystem DigoleSerialDisp
MAVlink/include/common/mavlink_msg_param_set.h
- Committer:
- shimniok
- Date:
- 2013-05-27
- Revision:
- 0:a6a169de725f
File content as of revision 0:a6a169de725f:
// MESSAGE PARAM_SET PACKING #define MAVLINK_MSG_ID_PARAM_SET 23 typedef struct __mavlink_param_set_t { uint8_t target_system; ///< System ID uint8_t target_component; ///< Component ID int8_t param_id[15]; ///< Onboard parameter id float param_value; ///< Onboard parameter value } mavlink_param_set_t; #define MAVLINK_MSG_PARAM_SET_FIELD_PARAM_ID_LEN 15 /** * @brief Pack a param_set message * @param system_id ID of this system * @param component_id ID of this component (e.g. 200 for IMU) * @param msg The MAVLink message to compress the data into * * @param target_system System ID * @param target_component Component ID * @param param_id Onboard parameter id * @param param_value Onboard parameter value * @return length of the message in bytes (excluding serial stream start sign) */ static inline uint16_t mavlink_msg_param_set_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, uint8_t target_system, uint8_t target_component, const int8_t* param_id, float param_value) { uint16_t i = 0; msg->msgid = MAVLINK_MSG_ID_PARAM_SET; i += put_uint8_t_by_index(target_system, i, msg->payload); // System ID i += put_uint8_t_by_index(target_component, i, msg->payload); // Component ID i += put_array_by_index(param_id, 15, i, msg->payload); // Onboard parameter id i += put_float_by_index(param_value, i, msg->payload); // Onboard parameter value return mavlink_finalize_message(msg, system_id, component_id, i); } /** * @brief Pack a param_set message * @param system_id ID of this system * @param component_id ID of this component (e.g. 200 for IMU) * @param chan The MAVLink channel this message was sent over * @param msg The MAVLink message to compress the data into * @param target_system System ID * @param target_component Component ID * @param param_id Onboard parameter id * @param param_value Onboard parameter value * @return length of the message in bytes (excluding serial stream start sign) */ static inline uint16_t mavlink_msg_param_set_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, uint8_t target_system, uint8_t target_component, const int8_t* param_id, float param_value) { uint16_t i = 0; msg->msgid = MAVLINK_MSG_ID_PARAM_SET; i += put_uint8_t_by_index(target_system, i, msg->payload); // System ID i += put_uint8_t_by_index(target_component, i, msg->payload); // Component ID i += put_array_by_index(param_id, 15, i, msg->payload); // Onboard parameter id i += put_float_by_index(param_value, i, msg->payload); // Onboard parameter value return mavlink_finalize_message_chan(msg, system_id, component_id, chan, i); } /** * @brief Encode a param_set struct into a message * * @param system_id ID of this system * @param component_id ID of this component (e.g. 200 for IMU) * @param msg The MAVLink message to compress the data into * @param param_set C-struct to read the message contents from */ static inline uint16_t mavlink_msg_param_set_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_param_set_t* param_set) { return mavlink_msg_param_set_pack(system_id, component_id, msg, param_set->target_system, param_set->target_component, param_set->param_id, param_set->param_value); } /** * @brief Send a param_set message * @param chan MAVLink channel to send the message * * @param target_system System ID * @param target_component Component ID * @param param_id Onboard parameter id * @param param_value Onboard parameter value */ #ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS static inline void mavlink_msg_param_set_send(mavlink_channel_t chan, uint8_t target_system, uint8_t target_component, const int8_t* param_id, float param_value) { mavlink_message_t msg; mavlink_msg_param_set_pack_chan(mavlink_system.sysid, mavlink_system.compid, chan, &msg, target_system, target_component, param_id, param_value); mavlink_send_uart(chan, &msg); } #endif // MESSAGE PARAM_SET UNPACKING /** * @brief Get field target_system from param_set message * * @return System ID */ static inline uint8_t mavlink_msg_param_set_get_target_system(const mavlink_message_t* msg) { return (uint8_t)(msg->payload)[0]; } /** * @brief Get field target_component from param_set message * * @return Component ID */ static inline uint8_t mavlink_msg_param_set_get_target_component(const mavlink_message_t* msg) { return (uint8_t)(msg->payload+sizeof(uint8_t))[0]; } /** * @brief Get field param_id from param_set message * * @return Onboard parameter id */ static inline uint16_t mavlink_msg_param_set_get_param_id(const mavlink_message_t* msg, int8_t* r_data) { memcpy(r_data, msg->payload+sizeof(uint8_t)+sizeof(uint8_t), 15); return 15; } /** * @brief Get field param_value from param_set message * * @return Onboard parameter value */ static inline float mavlink_msg_param_set_get_param_value(const mavlink_message_t* msg) { generic_32bit r; r.b[3] = (msg->payload+sizeof(uint8_t)+sizeof(uint8_t)+15)[0]; r.b[2] = (msg->payload+sizeof(uint8_t)+sizeof(uint8_t)+15)[1]; r.b[1] = (msg->payload+sizeof(uint8_t)+sizeof(uint8_t)+15)[2]; r.b[0] = (msg->payload+sizeof(uint8_t)+sizeof(uint8_t)+15)[3]; return (float)r.f; } /** * @brief Decode a param_set message into a struct * * @param msg The message to decode * @param param_set C-struct to decode the message contents into */ static inline void mavlink_msg_param_set_decode(const mavlink_message_t* msg, mavlink_param_set_t* param_set) { param_set->target_system = mavlink_msg_param_set_get_target_system(msg); param_set->target_component = mavlink_msg_param_set_get_target_component(msg); mavlink_msg_param_set_get_param_id(msg, param_set->param_id); param_set->param_value = mavlink_msg_param_set_get_param_value(msg); }